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Ethercat 16 bit integer PDO
We are using Kollmorgen drive and configured PDO 6077 (Actual torque). This PDO is 16 bit integer. This data is signed integer data in the drive. However in the controller we are getting this as 16 bit unsigned integer. Can anyone tell me how to map this data in Ethercat so that I get directly signed integer?
I ran into similar issue with Yaskawa drives.

I fixed it by opening up the Yaskawa ESI file matching the drive and then changing the data-type on the torque entry from UINT to INT
and then re-importing the updated ESI back into PowerPMAC IDE.

After that, the data was mapped correctly into the PowerPMAC as a signed integer..
I think this common issue with all 16 bit INT data. I just checked for another 16 bit INT(PDO 3470 Analog input) data and I get this also as unsigned data. In supplier xml it is INT.

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